Intranet
Josep Maria Porta Pleite
Científico Titular
Subline:
Kinematics and Robot Design
porta (at) iri.upc.edu
93 4010775
http://www.iri.upc.edu/people/porta
Josep M. Porta received the degree in Computer Science in 1994, and the Ph.D. degree in Artificial Intelligence in 2001, both from the UPC. From 2001 to 2003 he held a postdoctoral position at the University of Amsterdam, doing research in robot localization using vision. Currently, he is an Associate Researcher at the Institut de Robòtica i Informàtica Industrial (IRI, CSIC-UPC) and his current research interests include planning under uncertainty and computational kinematics.
As contributor
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CUIK++: An Extension of Branch-and-Prune Techniques for Motion Analysis and Synthesis of Complex Robotic Systems
National Project
Start Date: 01/01/2011
Publications
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O. Bohigas, Michael E. Henderson, L. Ros, M. Manubens and J.M. Porta. Planning singularity-free paths on closed-chain manipulators. IEEE Transactions on Robotics, 2013, to appear.
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R. Valencia, M. Morta, J. Andrade-Cetto and J.M. Porta. Planning reliable paths with Pose SLAM. IEEE Transactions on Robotics, 2013, to appear.
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L. Jaillet and J.M. Porta. Efficient asymptotically-optimal path planning on manifolds. Robotics and Autonomous Systems, 61(8): 797–807, 2013.
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C. Rosales, J.M. Porta and L. Ros. Grasp optimization under specific contact constraints. IEEE Transactions on Robotics, 29(3): 746-757, 2013.
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L. Jaillet and J.M. Porta. Path planning under kinematic constraints by rapidly exploring manifolds. IEEE Transactions on Robotics, 29(1): 105-117, 2013.
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J.M. Porta and L. Jaillet. Exploring the energy landscapes of flexible molecular loops using higher-dimensional continuation. Journal of Computational Chemistry, 34(3): 234-244, 2013.
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L. Jaillet and J.M. Porta. Asymptotically-optimal path planning on manifolds, 2012 Robotics: Science and Systems Conference, 2012, Sydney (Australia), pp. 1-8, MIT Press.
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O. Bohigas, D. Zlatanov, L. Ros, M. Manubens and J.M. Porta. Numerical computation of manipulator singularities, 2012 IEEE International Conference on Robotics and Automation, 2012, St. Paul, Minnesota, USA, pp. 1351-1358, IEEE.
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O. Bohigas, Michael E. Henderson, L. Ros and J.M. Porta. A singularity-free path planner for closed-chain manipulators, 2012 IEEE International Conference on Robotics and Automation, 2012, St. Paul, Minnesota, USA, pp. 2128-2134, IEEE.
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J.M. Porta, L. Jaillet and O. Bohigas. Randomized path planning on manifolds based on higher-dimensional continuation. The International Journal of Robotics Research , 31(2): 201-215, 2012.
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